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smooth_terrain_risk

rust_robotics_planning::traversal_risk_graph

Function smooth_terrain_risk 

Source 
pub fn smooth_terrain_risk(
    cells: &[Vec<TerrainRiskCell>],
    config: &RiskMapSmoothingConfig,
) -> RoboticsResult<Vec<Vec<TerrainRiskCell>>>
Expand description

Smooth terrain-risk channels while preserving blocked-cell topology.

Blocked cells remain blocked. When smooth_blocked_cells is false, their risk values are left untouched, but they still contribute to neighboring risk smoothing.